Overshot loader for autonomous operation

Abstract

An overshot loader including a set of ground engaging members, a frame attached to the set of ground engaging members, and a linkage assembly movably connected to the frame and located within a longitudinal center portion of the frame.

1. A loader having a dig end and a dump end opposite the dig end, comprising:
 a set of ground engaging members;  
 a frame attached to the set of ground engaging members, the frame having a longitudinal direction from the dig end of the loader to the dump end of the loader; and  
 a linkage assembly movably connected to and located at least partially within a longitudinal center portion of the frame and aligned with a transverse center of the frame,  
 wherein the linkage assembly is configured to autonomously transport a material from the dig end of the loader to the dump end of the loader, while the orientation of the linkage assembly remains substantially aligned in the longitudinal direction and the linkage assembly includes: 
 a boom having a first end pivotally connected to the frame, the boom configured for pivotal movement in a single plane parallel to the longitudinal direction;  
 a stick having a first end pivotally connected to a second end of the boom;  
 a work implement pivotally connected to a second end of the stick; and  
 at least one control link having a first end pivotally connected to the frame and a second end pivotally connected to the stick.  
 
 
   
   
     2. A loader, as set forth in  claim 1 , wherein the frame defines a ground link of a first four bar linkage, the boom defines a power link of the first four bar linkage, a portion of the stick from a boom-to-stick connection point to a control link-to-stick connection point defines a coupler link of the first four bar linkage, and the control link defines a control link of the first four bar linkage. 
   
   
     3. A loader, as set fourth in  claim 1 , wherein the linkage assembly further includes at least one work implement cylinder having a first end pivotally attached to the boom and a second end pivotally attached to the work implement. 
   
   
     4. A loader, as set fourth in  claim 3 , wherein the second end of the work implement cylinder is extendable. 
   
   
     5. A loader, as set fourth in  claim 4 , wherein a portion of the boom from a cylinder-to-boom connection point to the boom-to-stick connection point defines a first link of a second four bar linkage, the stick defines a second link of the second four bar linkage, a portion of the work implement from an implement-to-stick connection point to an implement-to-cylinder connection point defines a third link of the second four bar linkage, and the work implement cylinder defines a fourth link of the second four bar linkage. 
   
   
     6. A loader, as set fourth in  claim 3 , wherein the work implement is a bucket having an upper portion defined by the linkage assembly being located in a dig position. 
   
   
     7. A loader, as set forth in  claim 6 , wherein the implement-to-stick and implement-to-cylinder connection points are located on the upper portion of the bucket and the implement-to-cylinder connection point is at a point lower than the implement-to-stick connection point when the linkage assembly is located in the a dig position. 
   
   
     8. A loader, as set forth in  claim 1 , wherein the boom includes a main portion centered with and extending parallel to the longitudinal center portion of the frame, and wherein the first end of the boom has a width greater than the width of the main portion of the boom. 
   
   
     9. A loader, as set forth in  claim 8 , wherein the first end of the boom has two end portions pivotally connected to the frame and a hollow center portion, the two end portions and the center portion defining a forked end. 
   
   
     10. A loader, as set forth in  claim 1 , further including a prime mover located within the frame, the prime mover including:
 an engine; and  
 a drive train drivably connected to the engine, the drive train being further configured to drivably engage the set of ground engaging members.  
 
   
   
     11. A loader, as set forth in  claim 10 , further including a heat exchanger for removing heat generated by the engine, wherein the heat exchanger is located on one side of the frame parallel to the longitudinal center portion of the frame. 
   
   
     12. A loader, as set forth in  claim 11 , wherein the heat exchanger is a radiator. 
   
   
     13. A loader, as set forth in  claim 1 , wherein the set of ground engaging member includes a set of tires. 
   
   
     14. A loader, as set forth in  claim 13 , wherein each tire is a solid, non-pneumatic tire. 
   
   
     15. A linkage assembly for a loader having a frame, a dig end, and a dump end opposite the dig end, comprising:
 a boom having a first end pivotally connected to a longitudinal center portion of the frame and aligned with a transverse center of the frame;  
 a stick having a first end pivotally connected to a second end of the boom; and  
 a work implement pivotally connected to a second end of the stick,  
 wherein the linkage assembly is configured to autonomously transport a material from the dig end of the loader to the dump end of the loader, while the orientation of the linkage assembly remains substantially aligned in a longitudinal direction relative to the frame.  
 
   
   
     16. A linkage assembly, as set forth in  claim 15 , wherein the first end of the boom has two end portions pivotally connected to the frame and a hollow center portion, the two end portions and the center portion defining a forked end. 
   
   
     17. A loader having a dig end and a dump end opposite the dig end, comprising:
 a set of ground engaging members;  
 a frame attached to the set of ground engaging members, the frame having a longitudinal direction from the dig end of the loader to the dump end of the loader;  
 a boom having a first end pivotally connected to a longitudinal center portion of the frame and aligned with a transverse center of the frame;  
 a stick having a first end pivotally connected to a second end of the boom;  
 a work implement pivotally connected to a second end of the stick; and  
 at least one control link having a first end pivotally connected to the frame and a second end pivotally connected to the stick;  
 wherein the frame defines a ground link of a first four bar linkage, the boom defines a power link of the first four bar linkage, a portion of the stick from a boom-to-stick connection point to a control link-to-stick connection point defines a coupler link of the first four bar linkage, and the control link defines a control link of the first four bar linkage; and  
 wherein the linkage assembly is configured to autonomously transport a material from the dig end of the loader to the dump end of the loader, while the orientation of the linkage assembly remains substantially aligned in the longitudinal direction.  
 
   
   
     18. A loader, as set forth in  claim 17 , further including at least one work implement cylinder having a first end pivotally attached to the boom and a second end pivotally attached to the work implement, wherein the second end of the work implement cylinder is extendable. 
   
   
     19. A loader, as set forth in  claim 18 , wherein a portion of the boom from a cylinder-to-boom connection point to the boom-to-stick connection point defines a first link of a second four bar linkage, the stick defines a second link of the second four bar linkage, a portion of the work implement from an implement-to-stick connection point to an implement-to-cylinder connection point defines a third bar of the second four bar linkage, and the work implement cylinder defines a fourth bar of the second four bar linkage. 
   
   
     20. A loader, as set forth in  claim 1 , wherein the loader is remotely controlled. 
   
   
     21. A loader, as set forth in  claim 1 , wherein the linkage assembly automatically positions the work implement a minimum distance from a connection point between the linkage assembly and the frame generally mid-swing between a dig position and a dump position. 
   
   
     22. A loader, as set forth in  claim 1 , wherein the linkage assembly has a first outer connection surface configured to mate a first inner connection surface of the frame, and a second outer connection surface configured to mate a second outer connection surface of the frame, the second outer connection surface disposed on a side opposite the first outer connection surface. 
   
   
     23. A loader, as set forth in  claim 1 , wherein the boom is substantially perpendicularly oriented relative to the stick generally mid-swing between a dig position and a dump position. 
   
   
     24. A loader, as set forth in  claim 1 , wherein the stick is substantially parallel to a ground engaged by the set of ground engaging members generally mid-swing between a dig position and a dump position. 
   
   
     25. A loader, as set forth in  claim 1 , wherein the first end of the boom is connected to the frame at a point lower than an outer periphery of the set of ground engaging members relative to a ground engaged by the set of ground engaging members. 
   
   
     26. A loader, as set forth in  claim 1 , wherein the first end of the boom is located transversely inward of the set of ground engaging members relative to the longitudinal direction. 
   
   
     27. A loader, as set forth in  claim 1 , further including at least one cylinder having a first end operatively connected to the frame and a second end operatively connected to the boom, and the boom has a channel configured to receive the second end of the at least one cylinder. 
   
   
     28. A loader, as set forth in  claim 10 , wherein the prime mover is located below the linkage assembly relative to a ground engaged by the set of ground engaging members. 
   
   
     29. A linkage assembly, as set forth in  claim 15 , further including at least one control link having a first end pivotally connected to the frame and a second end pivotally connected to the stick, and the boom is configured for pivotal movement in a single plane parallel to the longitudinal center portion of the frame. 
   
   
     30. A linkage assembly, as set forth in  claim 15 , wherein the linkage assembly further includes at least one work implement cylinder having a first end pivotally attached to the boom and a second end pivotally attached to the work implement. 
   
   
     31. A linkage assembly, as set forth in  claim 15 , wherein the boom includes a main portion and the first end of the boom has a width greater than the width of the main portion. 
   
   
     32. A linkage assembly, as set forth in  claim 15 , wherein the linkage assembly has a first outer connection surface configured to mate a first inner connection surface of the frame, and a second outer connection surface configured to mate a second outer connection surface of the frame, the second outer connection surface disposed on a side opposite the first outer connection surface. 
   
   
     33. A linkage assembly, as set forth in  claim 15 , further including at least one cylinder having a first end operatively connected to the frame and a second end operatively connected to the boom, and the boom has a channel configured to receive the second end of the at least one cylinder.